diff --git a/src/DotRecast.Core/IntersectResult.cs b/src/DotRecast.Core/IntersectResult.cs
new file mode 100644
index 0000000..1bf8ba4
--- /dev/null
+++ b/src/DotRecast.Core/IntersectResult.cs
@@ -0,0 +1,11 @@
+namespace DotRecast.Core
+{
+    public class IntersectResult
+    {
+        public bool intersects;
+        public float tmin;
+        public float tmax = 1f;
+        public int segMin = -1;
+        public int segMax = -1;
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Core/RecastMath.cs b/src/DotRecast.Core/RecastMath.cs
index 4f96b57..a162577 100644
--- a/src/DotRecast.Core/RecastMath.cs
+++ b/src/DotRecast.Core/RecastMath.cs
@@ -810,14 +810,7 @@ namespace DotRecast.Core
             return r;
         }
 
-        public class IntersectResult
-        {
-            public bool intersects;
-            public float tmin;
-            public float tmax = 1f;
-            public int segMin = -1;
-            public int segMax = -1;
-        }
+
 
         public static IntersectResult IntersectSegmentPoly2D(Vector3f p0, Vector3f p1, float[] verts, int nverts)
         {
diff --git a/src/DotRecast.Detour.Crowd/Crowd.cs b/src/DotRecast.Detour.Crowd/Crowd.cs
index 5a8272e..ee14e57 100644
--- a/src/DotRecast.Detour.Crowd/Crowd.cs
+++ b/src/DotRecast.Detour.Crowd/Crowd.cs
@@ -901,7 +901,7 @@ namespace DotRecast.Detour.Crowd
 
             _telemetry.Stop("buildNeighbours");
         }
-        
+
 
         private List<CrowdNeighbour> GetNeighbours(Vector3f pos, float height, float range, CrowdAgent skip, ProximityGrid grid)
         {
@@ -1373,23 +1373,5 @@ namespace DotRecast.Detour.Crowd
         {
             return Clamp((t - t0) / (t1 - t0), 0.0f, 1.0f);
         }
-
-        /// Provides neighbor data for agents managed by the crowd.
-        /// @ingroup crowd
-        /// @see dtCrowdAgent::neis, dtCrowd
-        public class CrowdNeighbour
-        {
-            public readonly CrowdAgent agent;
-
-            /// < The index of the neighbor in the crowd.
-            public readonly float dist;
-
-            /// < The distance between the current agent and the neighbor.
-            public CrowdNeighbour(CrowdAgent agent, float dist)
-            {
-                this.agent = agent;
-                this.dist = dist;
-            }
-        };
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Crowd/CrowdAgent.cs b/src/DotRecast.Detour.Crowd/CrowdAgent.cs
index de44f62..8635926 100644
--- a/src/DotRecast.Detour.Crowd/CrowdAgent.cs
+++ b/src/DotRecast.Detour.Crowd/CrowdAgent.cs
@@ -73,7 +73,7 @@ namespace DotRecast.Detour.Crowd
         public float topologyOptTime;
 
         /// The known neighbors of the agent.
-        public List<Crowd.CrowdNeighbour> neis = new List<Crowd.CrowdNeighbour>();
+        public List<CrowdNeighbour> neis = new List<CrowdNeighbour>();
 
         /// The desired speed.
         public float desiredSpeed;
diff --git a/src/DotRecast.Detour.Crowd/CrowdNeighbour.cs b/src/DotRecast.Detour.Crowd/CrowdNeighbour.cs
new file mode 100644
index 0000000..33411f6
--- /dev/null
+++ b/src/DotRecast.Detour.Crowd/CrowdNeighbour.cs
@@ -0,0 +1,20 @@
+namespace DotRecast.Detour.Crowd
+{
+    /// Provides neighbor data for agents managed by the crowd.
+    /// @ingroup crowd
+    /// @see dtCrowdAgent::neis, dtCrowd
+    public class CrowdNeighbour
+    {
+        public readonly CrowdAgent agent;
+
+        /// < The index of the neighbor in the crowd.
+        public readonly float dist;
+
+        /// < The distance between the current agent and the neighbor.
+        public CrowdNeighbour(CrowdAgent agent, float dist)
+        {
+            this.agent = agent;
+            this.dist = dist;
+        }
+    };
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs b/src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
index 3b2224a..3f853cc 100644
--- a/src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
+++ b/src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
@@ -33,38 +33,6 @@ namespace DotRecast.Detour.Crowd
         /// < Max numver of adaptive divs.
         public const int DT_MAX_PATTERN_RINGS = 4;
 
-        /// < Max number of adaptive rings.
-        public class ObstacleCircle
-        {
-            /** Position of the obstacle */
-            public Vector3f p = new Vector3f();
-
-            /** Velocity of the obstacle */
-            public Vector3f vel = new Vector3f();
-
-            /** Velocity of the obstacle */
-            public Vector3f dvel = new Vector3f();
-
-            /** Radius of the obstacle */
-            public float rad;
-
-            /** Use for side selection during sampling. */
-            public Vector3f dp = new Vector3f();
-
-            /** Use for side selection during sampling. */
-            public Vector3f np = new Vector3f();
-        }
-
-        public class ObstacleSegment
-        {
-            /** End points of the obstacle segment */
-            public Vector3f p = new Vector3f();
-
-            /** End points of the obstacle segment */
-            public Vector3f q = new Vector3f();
-
-            public bool touch;
-        }
 
         private ObstacleAvoidanceParams m_params;
         private float m_invHorizTime;
@@ -214,16 +182,16 @@ namespace DotRecast.Detour.Crowd
             float d = VPerp2D(u, v);
             if (Math.Abs(d) < 1e-6f)
                 return new IsectRaySegResult(false, 0f);
-            
+
             d = 1.0f / d;
             float t = VPerp2D(v, w) * d;
             if (t < 0 || t > 1)
                 return new IsectRaySegResult(false, 0f);
-            
+
             float s = VPerp2D(u, w) * d;
             if (s < 0 || s > 1)
                 return new IsectRaySegResult(false, 0f);
-            
+
             return new IsectRaySegResult(true, t);
         }
 
@@ -316,7 +284,7 @@ namespace DotRecast.Detour.Crowd
                     var ires = IsectRaySeg(pos, vcand, seg.p, seg.q);
                     if (!ires.result)
                         continue;
-                    
+
                     htmin = ires.htmin;
                 }
 
diff --git a/src/DotRecast.Detour.Crowd/ObstacleCircle.cs b/src/DotRecast.Detour.Crowd/ObstacleCircle.cs
new file mode 100644
index 0000000..4d9ed7e
--- /dev/null
+++ b/src/DotRecast.Detour.Crowd/ObstacleCircle.cs
@@ -0,0 +1,26 @@
+using DotRecast.Core;
+
+namespace DotRecast.Detour.Crowd
+{
+    /// < Max number of adaptive rings.
+    public class ObstacleCircle
+    {
+        /** Position of the obstacle */
+        public Vector3f p = new Vector3f();
+
+        /** Velocity of the obstacle */
+        public Vector3f vel = new Vector3f();
+
+        /** Velocity of the obstacle */
+        public Vector3f dvel = new Vector3f();
+
+        /** Radius of the obstacle */
+        public float rad;
+
+        /** Use for side selection during sampling. */
+        public Vector3f dp = new Vector3f();
+
+        /** Use for side selection during sampling. */
+        public Vector3f np = new Vector3f();
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Crowd/ObstacleSegment.cs b/src/DotRecast.Detour.Crowd/ObstacleSegment.cs
new file mode 100644
index 0000000..d256c10
--- /dev/null
+++ b/src/DotRecast.Detour.Crowd/ObstacleSegment.cs
@@ -0,0 +1,15 @@
+using DotRecast.Core;
+
+namespace DotRecast.Detour.Crowd
+{
+    public class ObstacleSegment
+    {
+        /** End points of the obstacle segment */
+        public Vector3f p = new Vector3f();
+
+        /** End points of the obstacle segment */
+        public Vector3f q = new Vector3f();
+
+        public bool touch;
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour/IPolygonByCircleConstraint.cs b/src/DotRecast.Detour/IPolygonByCircleConstraint.cs
index 1e79d9f..6b1a152 100644
--- a/src/DotRecast.Detour/IPolygonByCircleConstraint.cs
+++ b/src/DotRecast.Detour/IPolygonByCircleConstraint.cs
@@ -21,7 +21,6 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
-    using static DotRecast.Core.RecastMath;
 
     public interface IPolygonByCircleConstraint
     {
@@ -36,77 +35,5 @@ namespace DotRecast.Detour
         {
             return new StrictPolygonByCircleConstraint();
         }
-
-        public class NoOpPolygonByCircleConstraint : IPolygonByCircleConstraint
-        {
-            public float[] Aply(float[] polyVerts, Vector3f circleCenter, float radius)
-            {
-                return polyVerts;
-            }
-        }
-
-        /**
-     * Calculate the intersection between a polygon and a circle. A dodecagon is used as an approximation of the circle.
-     */
-        public class StrictPolygonByCircleConstraint : IPolygonByCircleConstraint
-        {
-            private const int CIRCLE_SEGMENTS = 12;
-            private static float[] unitCircle;
-
-            public float[] Aply(float[] verts, Vector3f center, float radius)
-            {
-                float radiusSqr = radius * radius;
-                int outsideVertex = -1;
-                for (int pv = 0; pv < verts.Length; pv += 3)
-                {
-                    if (VDist2DSqr(center, verts, pv) > radiusSqr)
-                    {
-                        outsideVertex = pv;
-                        break;
-                    }
-                }
-
-                if (outsideVertex == -1)
-                {
-                    // polygon inside circle
-                    return verts;
-                }
-
-                float[] qCircle = Circle(center, radius);
-                float[] intersection = ConvexConvexIntersection.Intersect(verts, qCircle);
-                if (intersection == null && PointInPolygon(center, verts, verts.Length / 3))
-                {
-                    // circle inside polygon
-                    return qCircle;
-                }
-
-                return intersection;
-            }
-
-            private float[] Circle(Vector3f center, float radius)
-            {
-                if (unitCircle == null)
-                {
-                    unitCircle = new float[CIRCLE_SEGMENTS * 3];
-                    for (int i = 0; i < CIRCLE_SEGMENTS; i++)
-                    {
-                        double a = i * Math.PI * 2 / CIRCLE_SEGMENTS;
-                        unitCircle[3 * i] = (float)Math.Cos(a);
-                        unitCircle[3 * i + 1] = 0;
-                        unitCircle[3 * i + 2] = (float)-Math.Sin(a);
-                    }
-                }
-
-                float[] circle = new float[12 * 3];
-                for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3)
-                {
-                    circle[i] = unitCircle[i] * radius + center.x;
-                    circle[i + 1] = center.y;
-                    circle[i + 2] = unitCircle[i + 2] * radius + center.z;
-                }
-
-                return circle;
-            }
-        }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/NavMeshQuery.cs b/src/DotRecast.Detour/NavMeshQuery.cs
index 39c55a8..8195983 100644
--- a/src/DotRecast.Detour/NavMeshQuery.cs
+++ b/src/DotRecast.Detour/NavMeshQuery.cs
@@ -2993,18 +2993,6 @@ namespace DotRecast.Detour
             return Results.Success(new FindLocalNeighbourhoodResult(resultRef, resultParent));
         }
 
-        public class SegInterval
-        {
-            public long refs;
-            public int tmin, tmax;
-
-            public SegInterval(long refs, int tmin, int tmax)
-            {
-                this.refs = refs;
-                this.tmin = tmin;
-                this.tmax = tmax;
-            }
-        }
 
         protected void InsertInterval(List<SegInterval> ints, int tmin, int tmax, long refs)
         {
diff --git a/src/DotRecast.Detour/NoOpPolygonByCircleConstraint.cs b/src/DotRecast.Detour/NoOpPolygonByCircleConstraint.cs
new file mode 100644
index 0000000..b951200
--- /dev/null
+++ b/src/DotRecast.Detour/NoOpPolygonByCircleConstraint.cs
@@ -0,0 +1,12 @@
+using DotRecast.Core;
+
+namespace DotRecast.Detour
+{
+    public class NoOpPolygonByCircleConstraint : IPolygonByCircleConstraint
+    {
+        public float[] Aply(float[] polyVerts, Vector3f circleCenter, float radius)
+        {
+            return polyVerts;
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour/SegInterval.cs b/src/DotRecast.Detour/SegInterval.cs
new file mode 100644
index 0000000..45d176d
--- /dev/null
+++ b/src/DotRecast.Detour/SegInterval.cs
@@ -0,0 +1,16 @@
+namespace DotRecast.Detour
+{
+    public class SegInterval
+    {
+        public long refs;
+        public int tmin;
+        public int tmax;
+
+        public SegInterval(long refs, int tmin, int tmax)
+        {
+            this.refs = refs;
+            this.tmin = tmin;
+            this.tmax = tmax;
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs b/src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs
new file mode 100644
index 0000000..ce39637
--- /dev/null
+++ b/src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs
@@ -0,0 +1,71 @@
+using System;
+using DotRecast.Core;
+
+namespace DotRecast.Detour
+{
+    using static DotRecast.Core.RecastMath;
+
+    /**
+     * Calculate the intersection between a polygon and a circle. A dodecagon is used as an approximation of the circle.
+     */
+    public class StrictPolygonByCircleConstraint : IPolygonByCircleConstraint
+    {
+        private const int CIRCLE_SEGMENTS = 12;
+        private static float[] unitCircle;
+
+        public float[] Aply(float[] verts, Vector3f center, float radius)
+        {
+            float radiusSqr = radius * radius;
+            int outsideVertex = -1;
+            for (int pv = 0; pv < verts.Length; pv += 3)
+            {
+                if (VDist2DSqr(center, verts, pv) > radiusSqr)
+                {
+                    outsideVertex = pv;
+                    break;
+                }
+            }
+
+            if (outsideVertex == -1)
+            {
+                // polygon inside circle
+                return verts;
+            }
+
+            float[] qCircle = Circle(center, radius);
+            float[] intersection = ConvexConvexIntersection.Intersect(verts, qCircle);
+            if (intersection == null && PointInPolygon(center, verts, verts.Length / 3))
+            {
+                // circle inside polygon
+                return qCircle;
+            }
+
+            return intersection;
+        }
+
+        private float[] Circle(Vector3f center, float radius)
+        {
+            if (unitCircle == null)
+            {
+                unitCircle = new float[CIRCLE_SEGMENTS * 3];
+                for (int i = 0; i < CIRCLE_SEGMENTS; i++)
+                {
+                    double a = i * Math.PI * 2 / CIRCLE_SEGMENTS;
+                    unitCircle[3 * i] = (float)Math.Cos(a);
+                    unitCircle[3 * i + 1] = 0;
+                    unitCircle[3 * i + 2] = (float)-Math.Sin(a);
+                }
+            }
+
+            float[] circle = new float[12 * 3];
+            for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3)
+            {
+                circle[i] = unitCircle[i] * radius + center.x;
+                circle[i + 1] = center.y;
+                circle[i + 2] = unitCircle[i + 2] * radius + center.z;
+            }
+
+            return circle;
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Recast/HeightfieldLayer.cs b/src/DotRecast.Recast/HeightfieldLayer.cs
new file mode 100644
index 0000000..e771709
--- /dev/null
+++ b/src/DotRecast.Recast/HeightfieldLayer.cs
@@ -0,0 +1,53 @@
+using DotRecast.Core;
+
+namespace DotRecast.Recast
+{
+    /// Represents a heightfield layer within a layer set.
+    /// @see rcHeightfieldLayerSet
+    public class HeightfieldLayer
+    {
+        public Vector3f bmin = new Vector3f();
+
+        /// < The minimum bounds in world space. [(x, y, z)]
+        public Vector3f bmax = new Vector3f();
+
+        /// < The maximum bounds in world space. [(x, y, z)]
+        public float cs;
+
+        /// < The size of each cell. (On the xz-plane.)
+        public float ch;
+
+        /// < The height of each cell. (The minimum increment along the y-axis.)
+        public int width;
+
+        /// < The width of the heightfield. (Along the x-axis in cell units.)
+        public int height;
+
+        /// < The height of the heightfield. (Along the z-axis in cell units.)
+        public int minx;
+
+        /// < The minimum x-bounds of usable data.
+        public int maxx;
+
+        /// < The maximum x-bounds of usable data.
+        public int miny;
+
+        /// < The minimum y-bounds of usable data. (Along the z-axis.)
+        public int maxy;
+
+        /// < The maximum y-bounds of usable data. (Along the z-axis.)
+        public int hmin;
+
+        /// < The minimum height bounds of usable data. (Along the y-axis.)
+        public int hmax;
+
+        /// < The maximum height bounds of usable data. (Along the y-axis.)
+        public int[] heights;
+
+        /// < The heightfield. [Size: width * height]
+        public int[] areas;
+
+        /// < Area ids. [Size: Same as #heights]
+        public int[] cons; /// < Packed neighbor connection information. [Size: Same as #heights]
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Recast/HeightfieldLayerSet.cs b/src/DotRecast.Recast/HeightfieldLayerSet.cs
index d1d58ae..435b57b 100644
--- a/src/DotRecast.Recast/HeightfieldLayerSet.cs
+++ b/src/DotRecast.Recast/HeightfieldLayerSet.cs
@@ -27,55 +27,6 @@ namespace DotRecast.Recast
     /// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet
     public class HeightfieldLayerSet
     {
-        /// Represents a heightfield layer within a layer set.
-        /// @see rcHeightfieldLayerSet
-        public class HeightfieldLayer
-        {
-            public Vector3f bmin = new Vector3f();
-
-            /// < The minimum bounds in world space. [(x, y, z)]
-            public Vector3f bmax = new Vector3f();
-
-            /// < The maximum bounds in world space. [(x, y, z)]
-            public float cs;
-
-            /// < The size of each cell. (On the xz-plane.)
-            public float ch;
-
-            /// < The height of each cell. (The minimum increment along the y-axis.)
-            public int width;
-
-            /// < The width of the heightfield. (Along the x-axis in cell units.)
-            public int height;
-
-            /// < The height of the heightfield. (Along the z-axis in cell units.)
-            public int minx;
-
-            /// < The minimum x-bounds of usable data.
-            public int maxx;
-
-            /// < The maximum x-bounds of usable data.
-            public int miny;
-
-            /// < The minimum y-bounds of usable data. (Along the z-axis.)
-            public int maxy;
-
-            /// < The maximum y-bounds of usable data. (Along the z-axis.)
-            public int hmin;
-
-            /// < The minimum height bounds of usable data. (Along the y-axis.)
-            public int hmax;
-
-            /// < The maximum height bounds of usable data. (Along the y-axis.)
-            public int[] heights;
-
-            /// < The heightfield. [Size: width * height]
-            public int[] areas;
-
-            /// < Area ids. [Size: Same as #heights]
-            public int[] cons; /// < Packed neighbor connection information. [Size: Same as #heights]
-        }
-
         public HeightfieldLayer[] layers; /// < The layers in the set. [Size: #nlayers]
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast/ObjImporter.cs b/src/DotRecast.Recast/ObjImporter.cs
index 958cebe..2401a19 100644
--- a/src/DotRecast.Recast/ObjImporter.cs
+++ b/src/DotRecast.Recast/ObjImporter.cs
@@ -25,12 +25,6 @@ namespace DotRecast.Recast
 {
     public static class ObjImporter
     {
-        public class ObjImporterContext
-        {
-            public List<float> vertexPositions = new List<float>();
-            public List<int> meshFaces = new List<int>();
-        }
-
         public static IInputGeomProvider Load(byte[] chunck)
         {
             var context = LoadContext(chunck);
@@ -136,4 +130,4 @@ namespace DotRecast.Recast
             return posi;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/src/DotRecast.Recast/ObjImporterContext.cs b/src/DotRecast.Recast/ObjImporterContext.cs
new file mode 100644
index 0000000..e6cab53
--- /dev/null
+++ b/src/DotRecast.Recast/ObjImporterContext.cs
@@ -0,0 +1,10 @@
+using System.Collections.Generic;
+
+namespace DotRecast.Recast
+{
+    public class ObjImporterContext
+    {
+        public List<float> vertexPositions = new List<float>();
+        public List<int> meshFaces = new List<int>();
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Recast/RecastLayers.cs b/src/DotRecast.Recast/RecastLayers.cs
index b8abb4e..6706306 100644
--- a/src/DotRecast.Recast/RecastLayers.cs
+++ b/src/DotRecast.Recast/RecastLayers.cs
@@ -418,10 +418,10 @@ namespace DotRecast.Recast
             bmax.z -= borderSize * chf.cs;
 
             HeightfieldLayerSet lset = new HeightfieldLayerSet();
-            lset.layers = new HeightfieldLayerSet.HeightfieldLayer[layerId];
+            lset.layers = new HeightfieldLayer[layerId];
             for (int i = 0; i < lset.layers.Length; i++)
             {
-                lset.layers[i] = new HeightfieldLayerSet.HeightfieldLayer();
+                lset.layers[i] = new HeightfieldLayer();
             }
 
             // Store layers.
@@ -429,7 +429,7 @@ namespace DotRecast.Recast
             {
                 int curId = i;
 
-                HeightfieldLayerSet.HeightfieldLayer layer = lset.layers[i];
+                HeightfieldLayer layer = lset.layers[i];
 
                 int gridSize = lw * lh;
 
diff --git a/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs b/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs
index 8e1d8e4..6f70f8f 100644
--- a/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs
+++ b/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs
@@ -24,7 +24,7 @@ namespace DotRecast.Detour.Test;
 [Parallelizable]
 public class PolygonByCircleConstraintTest
 {
-    private readonly IPolygonByCircleConstraint constraint = new IPolygonByCircleConstraint.StrictPolygonByCircleConstraint();
+    private readonly IPolygonByCircleConstraint constraint = new StrictPolygonByCircleConstraint();
 
     [Test]
     public void ShouldHandlePolygonFullyInsideCircle()
diff --git a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
index 19b3be0..83e3e42 100644
--- a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
@@ -87,7 +87,7 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder
             TileCacheBuilder builder = new TileCacheBuilder();
             for (int i = 0; i < lset.layers.Length; ++i)
             {
-                HeightfieldLayerSet.HeightfieldLayer layer = lset.layers[i];
+                HeightfieldLayer layer = lset.layers[i];
 
                 // Store header
                 TileCacheLayerHeader header = new TileCacheLayerHeader();